Título:
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A fault-hiding approach for the switching quasi-LPV fault-tolerant control of a four-wheeled omnidirectional mobile robot
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Autor/a:
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Rotondo, Damiano; Puig Cayuela, Vicenç; Nejjari Akhi-Elarab, Fatiha; Romera Formiguera, Juli
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Otros autores:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIC - Sistemes Intel·ligents de Control; Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control |
Abstract:
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This paper proposes a reference model approach for the trajectory tracking of a four-wheeled omnidirectional mobile robot. In particular, the error model is brought to a quasi-linear-parameter-varying (LPV) form suitable for designing an error-feedback controller. It is shown that, if polytopic techniques are used to reduce the number of constraints from infinite to finite, a solution within the standard LPV framework could not exist due to a singularity that appears in the possible values of the input matrix. Adding a switching component to the controller allows solving this problem. Moreover, a switching LPV virtual actuator is added to the control loop in order to obtain fault tolerance within the fault-hiding paradigm, keeping the stability and some desired performances under the effect of actuator faults without the need of retuning the nominal controller. The effectiveness of the proposed approach is shown and proved through simulation and experimental results. |
Abstract:
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Peer Reviewed |
Materia(s):
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-Àrees temàtiques de la UPC::Informàtica::Automàtica i control -Mobile robots -- Automatic control -Fault-tolerant control (FTC) -identification -linear parameter-varying (LPV) systems -mobile robots -model reference -switched systems -tracking -virtual actuators -CONTROL-SYSTEMS -LEAST-SQUARES -ACTUATOR -DESIGN -MODEL -ACCOMMODATION -OPTIMIZATION -CONSTRAINTS -PARAMETERS -ALGORITHM -Robots mòbils -- Control automàtic |
Derechos:
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Tipo de documento:
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Artículo - Versión presentada Artículo |
Editor:
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Institute of Electrical and Electronics Engineers (IEEE)
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